Embedded systems have become an integral part of our daily lives. Due to their specialization, they are increasingly realized through interacting hardware and software components. This necessitates a holistic understanding of the verification issues that transcends hardware and software boundaries. This textbook serves as an introduction to the systematic verification of embedded systems, covering specialized methods for hardware and software verification as well as interface verification. All methods are described in a unified notation for both hardware and software. The essential aspects range from specification to functionality verification and time behavior analysis. This book is aimed at students of computer science, electrical engineering, and information technology.